The main job of this character is going after Don Quixote and doing what he says. That’s why he gets into trouble from time to time. He doesn’t like things he needs to do, but he is loyal to his master. That’s why we can sum that he is very faithful, self-sacrificing, he even didn’t leave his master when the last was dying. Also, we see that he is peaceful and harmless, he never fights. Or, also he could be scared of fighting, but we’ll never know this.
Sancho Panza in the Essays